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gtsam::CombinedScenarioRunner Class Reference
Inheritance diagram for gtsam::CombinedScenarioRunner:
Public Member Functions | |
| CombinedScenarioRunner (const Scenario &scenario, const SharedParams &p, double imuSampleTime=1.0/100.0, const Bias &bias=Bias(), const Eigen::Matrix< double, 15, 15 > &preintMeasCov=Eigen::Matrix< double, 15, 15 >::Zero()) | |
| PreintegratedCombinedMeasurements | integrate (double T, const Bias &estimatedBias=Bias(), bool corrupted=false) const |
| Integrate measurements for T seconds into a PIM. | |
| NavState | predict (const PreintegratedCombinedMeasurements &pim, const Bias &estimatedBias=Bias()) const |
| Predict predict given a PIM. | |
| Eigen::Matrix< double, 15, 15 > | estimateCovariance (double T, size_t N=1000, const Bias &estimatedBias=Bias()) const |
| Compute a Monte Carlo estimate of the predict covariance using N samples. | |
| Public Member Functions inherited from gtsam::ScenarioRunner | |
| ScenarioRunner (const Scenario &scenario, const SharedParams &p, double imuSampleTime=1.0/100.0, const Bias &bias=Bias()) | |
| const Vector3 & | gravity_n () const |
| const Scenario & | scenario () const |
| Vector3 | actualAngularVelocity (double t) const |
| Ideal gyroscope measurement expressed in the sensor frame. | |
| Vector3 | actualSpecificForce (double t) const |
| Ideal accelerometer measurement expressed in the sensor frame. | |
| Vector3 | measuredAngularVelocity (double t) const |
| Vector3 | measuredSpecificForce (double t) const |
| Specific force measured by accelerometer, corrupted by bias and noise. | |
| double | imuSampleTime () const |
| The IMU sample time (i.e. the time between two IMU measurements). | |
| PreintegratedImuMeasurements | integrate (double T, const Bias &estimatedBias=Bias(), bool corrupted=false) const |
| Integrate measurements for T seconds into a PIM. | |
| NavState | predict (const PreintegratedImuMeasurements &pim, const Bias &estimatedBias=Bias()) const |
| Predict predict given a PIM. | |
| Matrix9 | estimateCovariance (double T, size_t N=1000, const Bias &estimatedBias=Bias()) const |
| Compute a Monte Carlo estimate of the predict covariance using N samples. | |
| Matrix6 | estimateNoiseCovariance (size_t N=1000) const |
| Estimate covariance of sampled noise for sanity-check. | |
Public Types | |
| typedef std::shared_ptr< PreintegrationCombinedParams > | SharedParams |
| Public Types inherited from gtsam::ScenarioRunner | |
| typedef imuBias::ConstantBias | Bias |
| typedef std::shared_ptr< PreintegrationParams > | SharedParams |
Additional Inherited Members | |
| Protected Attributes inherited from gtsam::ScenarioRunner | |
| const Scenario & | scenario_ |
| const SharedParams | p_ |
| const double | imuSampleTime_ |
| const double | sqrt_dt_ |
| const Bias | estimatedBias_ |
| Sampler | gyroSampler_ |
| Sampler | accSampler_ |
The documentation for this class was generated from the following files:
- /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/navigation/ScenarioRunner.h
- /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/navigation/ScenarioRunner.cpp
